Vehicle braking
A vehicle may include rear ground traction members, front ground traction members, a rear drive system to drive the rear ground traction members, a continuously variable speed front drive system to drive the front ground traction members and a controller. The variable speed front drive system may include a hydraulic pump, a hydraulic motor driven by the hydraulic pump and operably coupled to the front ground traction members by a planetary gear assembly. The planetary gear assembly may include a sun gear coupled to and driven by the hydraulic motor, a ring gear operably coupled to the rear ground traction members and a planet carrier carrying planet gears intermeshing between the ring gear and the sun gear. The planet carrier has an output shaft operably coupled to the front ground traction members. At least one sun brake is actuatable by the controller to retard rotation of the sun gear.
1. A vehicle comprising:
rear ground traction members;
front ground traction members;
a rear drive system to drive the rear ground traction members;
a continuously variable speed front drive system to drive the front ground traction members and comprising:
a hydraulic pump;
a hydraulic motor driven by the hydraulic pump and operably coupled to the front ground traction members by a planetary gear assembly, the planetary gear assembly comprising:
a sun gear coupled to and driven by the hydraulic motor;
a ring gear operably coupled to the rear ground traction members; and
a planet carrier carrying planet gears intermeshing between the ring gear and the sun gear, the planet carrier having an output shaft operably coupled to the front ground traction members to drive the front ground traction members;
at least one sun brake actuatable to retard rotation of the sun gear, and
a controller to:
actuate the at least one sun brake to retard rotation of the sun gear.
2. The vehicle of claim 1 , wherein the at least one sun brake comprises a mechanical brake.
3. The vehicle of claim 1 , wherein the mechanical brake comprises a spring applied hydraulic release brake configured to brake rotation of the sun gear.
4. The vehicle of claim 1 , wherein the at least one brake comprises a dynamic hydraulic brake.
5. The vehicle of claim 4 , wherein the hydraulic motor has a hydraulic flow input and a hydraulic flow output and wherein the dynamic hydraulic brake comprises:
a main valve actuatable to nondriving state fluidically disconnecting the hydraulic flow input and the hydraulic flow output from the hydraulic pump while fluidly connecting the hydraulic flow input to the hydraulic flow output; and
a first counterbalance valve fluidically coupled between the hydraulic flow input and the main valve; and
a second counterbalance valve fluidically coupled between the hydraulic flow output and the main valve,
wherein the first counterbalance valve and the second counterbalance valve, when closed while the main valve is in the nondriving state, hydraulically lock the hydraulic motor to retard rotation of the sun gear, and
wherein the first counterbalance valve and the second counterbalance valve, when opened while the main valve is in the nondriving state, permit rotation of the sun gear for propulsion of the vehicle by the rear ground traction members without propulsion by the front ground traction members.
6. The vehicle of claim 1 , wherein the dynamic hydraulic brake comprises:
a first valve actuatable to a reverse state in which hydraulic pressure is applied by the hydraulic motor in a first reverse driving direction; and
a second valve configured to divert hydraulic fluid being supplied to the hydraulic motor away from the hydraulic motor in response to the first valve being in the reverse state so as to inhibit rotation of the sun gear by the hydraulic motor in either direction.
7. The vehicle of claim 1 , wherein the at least one sun brake comprises:
a static mechanical brake; and
a dynamic hydraulic brake,
wherein the dynamic hydraulic brake is actuated to slow rotation of the sun gear to a rotational speed of the sun gear below a predetermined rotational speed threshold and wherein the static mechanical brake initiates braking of the sun gear in response to the rotational speed of the sun gear being below the predetermined rotational speed threshold.
8. The vehicle of claim 7 , wherein the mechanical brake comprises a spring applied hydraulic release brake.
9. The vehicle of claim 8 , wherein the hydraulic motor has a hydraulic flow input and a hydraulic flow output and wherein the dynamic hydraulic brake comprises:
a main valve actuatable to nondriving state fluidically disconnecting the hydraulic flow input and the hydraulic flow output from the hydraulic pump while fluidly connecting the hydraulic flow input to the hydraulic flow output; and
a first counterbalance valve fluidically coupled between the hydraulic flow input and the main valve; and
a second counterbalance valve fluidically coupled between the hydraulic flow output and the main valve,
wherein the first counterbalance valve and the second counterbalance valve, when closed while the main valve is in the nondriving state, hydraulically lock the hydraulic motor to retard rotation of the sun gear, and
wherein the first counterbalance valve and the second counterbalance valve, when opened while the main valve is in the nondriving state, permit rotation of the sun gear for propulsion of the vehicle by the rear ground traction members without propulsion by the front ground traction members.
10. The vehicle of claim 8 , wherein the dynamic hydraulic brake comprises:
a first valve actuatable to a reverse state in which hydraulic pressure is applied by the hydraulic motor in a first reverse driving direction; and
a second valve configured to divert hydraulic fluid being supplied to the hydraulic motor away from the hydraulic motor in response to the first valve being in the reverse state so as to inhibit rotation of the sun gear by the hydraulic motor in either direction.
11. The vehicle of claim 7 , wherein the dynamic hydraulic brake comprises:
a first valve actuatable between a first state in which hydraulic pressure is applied by the hydraulic motor in a first forward driving direction and a second state in which the hydraulic pressure is not applied to the hydraulic motor; and
a first counterbalance valve actuatable to divert hydraulic pressure applied to the hydraulic motor in a forward direction; and
a second counterbalance valve actuatable to divert hydraulic pressure applied to the hydraulic motor in a reverse direction,
wherein the first counterbalance valve and the second counterbalance valve are each actuated based upon hydraulic pressure being supplied to the hydraulic motor so as to retard forward driving of the hydraulic motor and the sun gear while the first valve is in the first state.
12. The vehicle of claim 7 , wherein they dynamic hydraulic brake comprises:
a first valve actuatable to a reverse state in which hydraulic pressure is applied by the hydraulic motor in a first reverse driving direction;
a second valve configured to divert hydraulic fluid being supplied to the hydraulic motor away from the hydraulic motor in response to the first valve being in the reverse state so as to inhibit rotation of the sun gear by the hydraulic motor in either direction.
13. The vehicle of claim 7 , wherein the controller is configured to actuate the static mechanical brake while the rotational speed of the sun gear is at or above the predetermined rotational speed threshold in response to a state selected from a group of states consisting of: an electrical fault of a front axle speed sensor; an electrical fault of four-wheel-drive solenoids; damage to HVIL, an electrical fault of a valve of the dynamic hydraulic brake; opening of high-voltage contactors; a determined commanded traction motor rotational speed being below a predefined threshold so as to be insufficient to maintain sufficient system hydraulic pressure from hydraulic braking, and an engine off state for an internal combustion engine.
14. The vehicle of claim 7 , wherein the controller is configured to actuate the static mechanical brake while the rotational speed of the sun gear is at or above the predetermined rotational speed threshold in response to the hydraulic pump supplying a system hydraulic pressure of less than 25 BAR.
15. The vehicle of claim 7 , wherein the controller is configured to actuate the static mechanical brake while the rotational speed of the sun gear is at or above the predetermined rotational speed threshold in response to a time lapse since initiation hydraulic braking satisfying a predetermined time out threshold.
16. The vehicle of claim 1 , wherein the controller is configured to actuate the at least one sun brake to retard rotation of the sun gear in response to a brake request.
17. The vehicle claim 1 , wherein the controller is configured to:
determine a relative slip between the front ground engaging members and the rear ground engaging members; and
actuate the least one sun brake to retard rotation of the sun gear based upon the relative slip.
18. The vehicle of claim 1 further comprising an electric motor configured to supply torque to the rear drive system and to the hydraulic pump.
19. The vehicle of claim 1 , wherein the controller is configured to terminate braking of sun gear by the at least one sun gear brake in response to absence of a braking request, a relative slip between the front ground engaging members and the rear ground engaging members being below a predefined threshold and vehicle turning satisfying a predetermined turn threshold.
20. The vehicle of claim 1 , the controller is configured to terminate braking of sun gear by the at least one sun gear brake in response to absence of a braking request, a relative slip between the front ground engaging members and the rear ground engaging members being below a predefined threshold and a pitch of the vehicle being less than a predefined pitch threshold.